mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-08 19:11:35 +08:00
Added fixed to VTOL for gz (#21097)
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
This commit is contained in:
Alejandro Hernández Cordero
@@ -79,3 +79,4 @@ param set-default SIM_GZ_SV_FUNC3 203
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param set-default SIM_GZ_SV_FUNC4 204
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param set-default SIM_GZ_SV_FUNC5 205
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param set-default SIM_GZ_SV_FUNC6 206
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param set-default FD_ESCS_EN 0
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@@ -36,16 +36,16 @@ param set-default CA_ROTOR4_AZ 0.0
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param set-default CA_ROTOR4_PX 0.2
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param set-default SIM_GZ_EC_FUNC1 101
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param set-default SIM_GZ_EC_MIN1 10
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param set-default SIM_GZ_EC_MIN1 0
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param set-default SIM_GZ_EC_MAX1 1500
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param set-default SIM_GZ_EC_FUNC2 102
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param set-default SIM_GZ_EC_MIN2 10
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param set-default SIM_GZ_EC_MIN2 0
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param set-default SIM_GZ_EC_MAX2 1500
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param set-default SIM_GZ_EC_FUNC3 103
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param set-default SIM_GZ_EC_MIN3 10
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param set-default SIM_GZ_EC_MIN3 0
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param set-default SIM_GZ_EC_MAX3 1500
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param set-default SIM_GZ_EC_FUNC4 104
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param set-default SIM_GZ_EC_MIN4 10
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param set-default SIM_GZ_EC_MIN4 0
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param set-default SIM_GZ_EC_MAX4 1500
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param set-default SIM_GZ_EC_FUNC5 105
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File diff suppressed because it is too large
Load Diff
@@ -2,7 +2,7 @@
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<model>
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<name>foxtech_loong_2160</name>
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<version>1.0</version>
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<sdf version='1.9'>model.sdf</sdf>
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<sdf version='1.10'>model.sdf</sdf>
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<author>
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<name>Alejandro Hernandez Cordero</name>
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@@ -1,6 +1,6 @@
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<?xml version="1.0"?>
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<sdf version="1.9">
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<model name="foxtech">
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<sdf version="1.10">
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<model name="foxtech_loong_2160">
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<pose>0 0 0.5 0 0 0</pose>
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<link name="base_link">
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<visual name="visual_base_link">
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@@ -18,7 +18,7 @@
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</geometry>
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</collision>
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<inertial>
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<pose>5.5496318928189852e-08 -0.13220957545547668 0.04102677817672417 1.5707963267949001 -1.5231416921301011 1.5707963267948919</pose>
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<pose>-0.13220955077769075 -4.9142356489896525e-08 0.04102678265168308 1.5707963267948966 -1.5231416433972742 0</pose>
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<mass>3.584838964525901</mass>
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<inertia>
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<ixx>0.67738485351961117</ixx>
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@@ -35,6 +35,7 @@
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</sensor>
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</link>
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<link name="legs_link">
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<pose>0 0 0 0 0 -1.57</pose>
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<visual name="visual_legs_link">
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<geometry>
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<mesh>
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@@ -46,6 +47,18 @@
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<diffuse>1 1 1 1.0</diffuse>
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</material>
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</visual>
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<inertial>
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<pose>3.7153930608820144e-06 -0.17032952180315669 -0.067888027893133446 0.010363008330798451 -1.494594844601834 1.5602561510969915</pose>
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<mass>0.6675493726413797</mass>
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<inertia>
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<ixx>0.032153703643267112</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.031670484418576728</iyy>
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<iyz>0</iyz>
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<izz>0.00069030434527976208</izz>
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</inertia>
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</inertial>
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<collision name="collision_legs_link">
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<geometry>
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<mesh>
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@@ -59,9 +72,7 @@
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<parent>base_link</parent>
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</joint>
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<link name="airspeed_link">
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<pose>0 0 0 0 0 0</pose>
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>0.015</mass>
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<inertia>
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<ixx>1e-05</ixx>
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@@ -88,12 +99,12 @@
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<air_speed>
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<airspeed>
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<pressure>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.01</stddev>
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</noise>
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</airspeed>
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</pressure>
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</air_speed>
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</sensor>
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</link>
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@@ -102,7 +113,7 @@
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<parent>base_link</parent>
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</joint>
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<link name="aileron_left_link">
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<pose>-0.713 -0.122 0.062 0 0 0</pose>
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<pose>-0.122 0.713 0.062 0 0 -1.57</pose>
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<visual name="visual_aileron_left_link">
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<geometry>
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<mesh>
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@@ -145,7 +156,7 @@
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</axis>
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</joint>
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<link name="aileron_right_link">
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<pose>0.713 -0.122 0.062 0 0 0</pose>
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<pose>-0.122 -0.713 0.062 0 0 -1.57</pose>
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<visual name="visual_aileron_right_link">
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<geometry>
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<mesh>
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@@ -187,9 +198,9 @@
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</dynamics>
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</axis>
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</joint>
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<link name="elevator_right_link">
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<pose>0.145 -0.883 0.058 0 0 0</pose>
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<link name="elevator_link">
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<visual name="visual_elevator_right_link">
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<pose>-0.883 -0.145 0.058 0 0 -1.57</pose>
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<geometry>
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<mesh>
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<uri>model://foxtech_loong_2160/meshes/elevator_right.dae</uri>
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@@ -197,42 +208,15 @@
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</geometry>
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</visual>
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<collision name="collision_elevator_right_link">
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<pose>-0.883 -0.145 0.058 0 0 -1.57</pose>
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<geometry>
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<mesh>
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<uri>model://foxtech_loong_2160/meshes/elevator_right.dae</uri>
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</mesh>
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</geometry>
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</collision>
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<inertial>
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<pose>-0.0016067211671852988 -0.018030442713651468 -0.00069522433005383619 -1.5781803398819152 -1.5333187237477242 -1.557643721247719</pose>
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<mass>0.060753042156032153</mass>
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<inertia>
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<ixx>0.00020350509255462549</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.00019480985651122032</iyy>
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<iyz>0</iyz>
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<izz>8.8355306524910641e-06</izz>
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</inertia>
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</inertial>
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</link>
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<joint name="servo_2" type="revolute">
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<parent>base_link</parent>
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<child>elevator_right_link</child>
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<axis>
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<xyz>1 0 0</xyz>
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<limit>
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<lower>-0.53</lower>
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<upper>0.53</upper>
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</limit>
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<dynamics>
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<damping>1.000</damping>
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</dynamics>
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</axis>
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</joint>
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<link name="elevator_left_link">
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<pose>-0.145 -0.883 0.058 0 0 0</pose>
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<visual name="visual_elevator_left_link">
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<pose>-0.883 0.145 0.058 0 0 -1.57</pose>
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<geometry>
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<mesh>
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<uri>model://foxtech_loong_2160/meshes/elevator_left.dae</uri>
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@@ -240,6 +224,7 @@
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</geometry>
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</visual>
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<collision name="collision_elevator_left_link">
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<pose>-0.883 0.145 0.058 0 0 -1.57</pose>
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<geometry>
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<mesh>
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<uri>model://foxtech_loong_2160/meshes/elevator_left.dae</uri>
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@@ -247,23 +232,24 @@
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</geometry>
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</collision>
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<inertial>
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<pose>0.0016067211849514255 -0.01803044297097545 -0.00069522588918623891 -1.5634123386853667 -1.5333186393334697 -1.5839489042016495</pose>
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<mass>0.060753043945841481</mass>
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<pose>-0.90103043712540809 -1.4356019912623529e-05 0.057304774890379953 -1.5708004219891478 -1.5333831628670098 -3.141493135229823</pose>
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<mass>0.12150608610187363</mass>
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<inertia>
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<ixx>0.00020350510004415204</ixx>
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<ixx>0.0029053735939891879</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.00019480986370137352</iyy>
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<iyy>0.0028879706692375028</iyy>
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<iyz>0</iyz>
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<izz>8.8355309624774113e-06</izz>
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<izz>1.7683703559870421e-05</izz>
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</inertia>
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</inertial>
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</link>
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<joint name="servo_3" type="revolute">
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<joint name="servo_2" type="revolute">
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<pose>-0.883 0 0.058 0 0 -1.57</pose>
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<parent>base_link</parent>
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<child>elevator_left_link</child>
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<child>elevator_link</child>
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<axis>
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<xyz>1 0 0</xyz>
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<xyz>-1 0 0</xyz>
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<limit>
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<lower>-0.53</lower>
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<upper>0.53</upper>
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@@ -274,7 +260,7 @@
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</axis>
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</joint>
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<link name="rudder_link">
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<pose>0 -0.887 0.201 0 0 0</pose>
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<pose>-0.887 0 0.201 0 0 -1.57</pose>
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<visual name="visual_rudder_link">
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<geometry>
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<mesh>
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@@ -302,7 +288,7 @@
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</inertia>
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</inertial>
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</link>
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<joint name="servo_4" type="revolute">
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<joint name="servo_3" type="revolute">
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<parent>base_link</parent>
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<child>rudder_link</child>
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<axis>
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@@ -316,11 +302,11 @@
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</dynamics>
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</axis>
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</joint>
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<link name="rotor_0">
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<link name="rotor_3">
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<gravity>true</gravity>
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<self_collide>false</self_collide>
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<velocity_decay/>
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||||
<pose>0.427 -0.403 0.083 0 0 0</pose>
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||||
<pose>-0.403 -0.427 0.083 0 0 -1.57</pose>
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||||
<inertial>
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||||
<mass>0.016076923076923075</mass>
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||||
<inertia>
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||||
@@ -329,15 +315,14 @@
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||||
<izz>2.649858234714004e-05</izz>
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||||
</inertia>
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||||
</inertial>
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||||
<visual name="rotor_0_visual">
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<visual name="rotor_3_visual">
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||||
<geometry>
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||||
<mesh>
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||||
<uri>model://foxtech_loong_2160/meshes/propeller_ccw.dae</uri>
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||||
</mesh>
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</geometry>
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||||
</visual>
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||||
<collision name="rotor_0_collision">
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||||
<pose>0 0 0 0 0 0 </pose>
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||||
<collision name="rotor_3_collision">
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||||
<geometry>
|
||||
<box>
|
||||
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
|
||||
@@ -371,11 +356,11 @@
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||||
</dynamics>
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||||
</axis>
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</joint>
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<link name="rotor_1">
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||||
<link name="rotor_2">
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<gravity>true</gravity>
|
||||
<self_collide>false</self_collide>
|
||||
<velocity_decay/>
|
||||
<pose>-0.427 0.403 0.083 0 0 0</pose>
|
||||
<pose>0.403 0.427 0.083 0 0 -1.57</pose>
|
||||
<inertial>
|
||||
<mass>0.016076923076923075</mass>
|
||||
<inertia>
|
||||
@@ -384,15 +369,14 @@
|
||||
<izz>2.649858234714004e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="rotor_1_visual">
|
||||
<visual name="rotor_2_visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/propeller_ccw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="rotor_1_collision">
|
||||
<pose>0 0 0 0 0 0 </pose>
|
||||
<collision name="rotor_2_collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
|
||||
@@ -426,11 +410,11 @@
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name="rotor_2">
|
||||
<link name="rotor_0">
|
||||
<gravity>true</gravity>
|
||||
<self_collide>false</self_collide>
|
||||
<velocity_decay/>
|
||||
<pose>0.427 0.403 0.083 0 0 0</pose>
|
||||
<pose>0.403 -0.427 0.083 0 0 -1.57</pose>
|
||||
<inertial>
|
||||
<mass>0.016076923076923075</mass>
|
||||
<inertia>
|
||||
@@ -439,15 +423,14 @@
|
||||
<izz>2.649858234714004e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="rotor_2_visual">
|
||||
<visual name="rotor_0_visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/propeller_cw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="rotor_2_collision">
|
||||
<pose>0 0 0 0 0 0 </pose>
|
||||
<collision name="rotor_0_collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
|
||||
@@ -481,11 +464,11 @@
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name="rotor_3">
|
||||
<link name="rotor_1">
|
||||
<gravity>true</gravity>
|
||||
<self_collide>false</self_collide>
|
||||
<velocity_decay/>
|
||||
<pose>-0.427 -0.403 0.083 0 0 0</pose>
|
||||
<pose>-0.403 0.427 0.083 0 0 -1.57</pose>
|
||||
<inertial>
|
||||
<mass>0.016076923076923075</mass>
|
||||
<inertia>
|
||||
@@ -494,15 +477,14 @@
|
||||
<izz>2.649858234714004e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="rotor_3_visual">
|
||||
<visual name="rotor_1_visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/propeller_cw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="rotor_3_collision">
|
||||
<pose>0 0 0 0 0 0 </pose>
|
||||
<collision name="rotor_1_collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
|
||||
@@ -537,7 +519,7 @@
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='rotor_puller'>
|
||||
<pose>0.0 0.379 0.0 -1.57 1.57 0</pose>
|
||||
<pose>0.379 0.0 0.0 -1.57 1.57 -1.57</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>0.005</mass>
|
||||
@@ -690,19 +672,20 @@
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.05 0.3 0.05</cp>
|
||||
<area>0.50</area>
|
||||
<cp>-0.05 0.45 0.05</cp>
|
||||
<area>0.6</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 0 1</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>servo_0</control_joint_name>
|
||||
<control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl>
|
||||
<control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_0</joint_name>
|
||||
<sub_topic>servo_0</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
@@ -713,19 +696,20 @@
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.05 -0.3 0.05</cp>
|
||||
<area>0.50</area>
|
||||
<cp>-0.05 -0.45 0.05</cp>
|
||||
<area>0.6</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 0 1</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>servo_1</control_joint_name>
|
||||
<control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl>
|
||||
<control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_1</joint_name>
|
||||
<sub_topic>servo_1</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>-0.2</a0>
|
||||
@@ -743,12 +727,13 @@
|
||||
<upward>0 0 1</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>servo_2</control_joint_name>
|
||||
<control_joint_rad_to_cl>-12.0</control_joint_rad_to_cl>
|
||||
<control_joint_rad_to_cl>-4.0</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_2</joint_name>
|
||||
<sub_topic>servo_2</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.0</a0>
|
||||
@@ -766,33 +751,13 @@
|
||||
<upward>0 1 0</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>servo_3</control_joint_name>
|
||||
<control_joint_rad_to_cl>0.8</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_3</joint_name>
|
||||
<sub_topic>servo_3</sub_topic>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.0</a0>
|
||||
<cla>4.752798721</cla>
|
||||
<cda>0.6417112299</cda>
|
||||
<cma>0.0.</cma>
|
||||
<alpha_stall>0.3391428111</alpha_stall>
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.5 0 0.05</cp>
|
||||
<area>0.02</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 1 0</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>servo_4</control_joint_name>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_4</joint_name>
|
||||
<sub_topic>servo_4</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
<model>
|
||||
<name>rc_cessna</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.9'>model.sdf</sdf>
|
||||
<sdf version='1.10'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Benjamin Perseghetti</name>
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version='1.9'>
|
||||
<sdf version='1.10'>
|
||||
<model name='rc_cessna'>
|
||||
<pose>0 0 0.246 0 0 0</pose>
|
||||
<link name='base_link'>
|
||||
@@ -85,7 +85,7 @@
|
||||
<update_rate>250</update_rate>
|
||||
</sensor>
|
||||
</link>
|
||||
<link name="airspeed">
|
||||
<link name="airspeed_link">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
@@ -111,22 +111,22 @@
|
||||
<diffuse>0 0 0 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<!-- <sensor name="air_speed" type="air_speed">
|
||||
<sensor name="air_speed" type="air_speed">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>5.0</update_rate>
|
||||
<enable_metrics>false</enable_metrics>
|
||||
<air_speed>
|
||||
<airspeed>
|
||||
<pressure>
|
||||
<noise type="gaussian">
|
||||
<mean>0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</airspeed>
|
||||
</pressure>
|
||||
</air_speed>
|
||||
</sensor> -->
|
||||
</sensor>
|
||||
</link>
|
||||
<joint name='airspeed_joint' type='fixed'>
|
||||
<child>airspeed</child>
|
||||
<child>airspeed_link</child>
|
||||
<parent>base_link</parent>
|
||||
</joint>
|
||||
<link name='rotor_puller'>
|
||||
@@ -685,6 +685,7 @@
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_0</joint_name>
|
||||
<sub_topic>servo_0</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
@@ -708,6 +709,7 @@
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_1</joint_name>
|
||||
<sub_topic>servo_1</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
@@ -767,6 +769,7 @@
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_2</joint_name>
|
||||
<sub_topic>servo_2</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.0</a0>
|
||||
@@ -789,6 +792,7 @@
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>rudder_joint</joint_name>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_puller_joint</jointName>
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
<model>
|
||||
<name>Standard VTOL</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.9'>model.sdf</sdf>
|
||||
<sdf version='1.10'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Roman Bapst</name>
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
<?xml version="1.0"?>
|
||||
<!-- DO NOT EDIT: Generated from standard_vtol.sdf.jinja -->
|
||||
<sdf version='1.9'>
|
||||
<sdf version='1.10'>
|
||||
<model name='standard_vtol'>
|
||||
<pose>0 0 0.246 0 0 0</pose>
|
||||
<link name='base_link'>
|
||||
@@ -167,12 +167,12 @@
|
||||
<visualize>true</visualize>
|
||||
<enable_metrics>true</enable_metrics>
|
||||
<air_speed>
|
||||
<airspeed>
|
||||
<pressure>
|
||||
<noise type="gaussian">
|
||||
<mean>0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</airspeed>
|
||||
</pressure>
|
||||
</air_speed>
|
||||
</sensor>
|
||||
</link>
|
||||
|
||||
Reference in New Issue
Block a user